Juan Carlos Cambera — accepted AI-conference papers

2018

Feedback Linearizing Controller for a Single Link Flexible Arm with a Passive Gravity Compensation Mechanism

Juan Carlos Cambera, Vicente Feliu-Batlle

IROS 2018poster

Despite the benefits that the spring based gravity compensation mechanism has brought to the field of rigid robotic manipulators, there have been no substantial efforts toward transferring these developments to the field of flexible link robotics. In this paper, we present an input state feedback li…

Cited by 3 Source ↗Scholar ↗

2018

Modeling and Identification of a Single Link Flexible Arm with a Passive Gravity Compensation Mechanism

Juan Carlos Cambera, Jose Abel Chocoteco, Vicente Feliu-Batlle

ICRA 2018poster

In this paper, we present an experimental study concerning the gravity compensation of flexible link arms based on linear springs. In the field of flexible link robotics, the gravity compensation based on counterweights has been successfully applied in the past, but little effort has been made to ex…

Cited by 4 Source ↗Scholar ↗